#pragma once

#include <tinympc/types.hpp>

tinytype rho_value = 5.0;

tinytype Adyn_data[NSTATES * NSTATES] = {
    1.0000000, 0.0000000, 0.0000000, 0.0000000, 0.0009810, 0.0000000, 0.0100000, 0.0000000, 0.0000000, 0.0000000, 0.0000016, 0.0000000,
    0.0000000, 1.0000000, 0.0000000, -0.0009810, 0.0000000, 0.0000000, 0.0000000, 0.0100000, 0.0000000, -0.0000016, 0.0000000, 0.0000000,
    0.0000000, 0.0000000, 1.0000000, 0.0000000, 0.0000000, 0.0000000, 0.0000000, 0.0000000, 0.0100000, 0.0000000, 0.0000000, 0.0000000,
    0.0000000, 0.0000000, 0.0000000, 1.0000000, 0.0000000, 0.0000000, 0.0000000, 0.0000000, 0.0000000, 0.0050000, 0.0000000, 0.0000000,
    0.0000000, 0.0000000, 0.0000000, 0.0000000, 1.0000000, 0.0000000, 0.0000000, 0.0000000, 0.0000000, 0.0000000, 0.0050000, 0.0000000,
    0.0000000, 0.0000000, 0.0000000, 0.0000000, 0.0000000, 1.0000000, 0.0000000, 0.0000000, 0.0000000, 0.0000000, 0.0000000, 0.0050000,
    0.0000000, 0.0000000, 0.0000000, 0.0000000, 0.1962000, 0.0000000, 1.0000000, 0.0000000, 0.0000000, 0.0000000, 0.0004905, 0.0000000,
    0.0000000, 0.0000000, 0.0000000, -0.1962000, 0.0000000, 0.0000000, 0.0000000, 1.0000000, 0.0000000, -0.0004905, 0.0000000, 0.0000000,
    0.0000000, 0.0000000, 0.0000000, 0.0000000, 0.0000000, 0.0000000, 0.0000000, 0.0000000, 1.0000000, 0.0000000, 0.0000000, 0.0000000,
    0.0000000, 0.0000000, 0.0000000, 0.0000000, 0.0000000, 0.0000000, 0.0000000, 0.0000000, 0.0000000, 1.0000000, 0.0000000, 0.0000000,
    0.0000000, 0.0000000, 0.0000000, 0.0000000, 0.0000000, 0.0000000, 0.0000000, 0.0000000, 0.0000000, 0.0000000, 1.0000000, 0.0000000,
    0.0000000, 0.0000000, 0.0000000, 0.0000000, 0.0000000, 0.0000000, 0.0000000, 0.0000000, 0.0000000, 0.0000000, 0.0000000, 1.0000000};

tinytype Bdyn_data[NSTATES * NINPUTS] = {
    -0.0000011, 0.0000012, 0.0000011, -0.0000012,
    0.0000011, 0.0000012, -0.0000011, -0.0000012,
    0.0002102, 0.0002102, 0.0002102, 0.0002102,
    -0.0068839, -0.0075809, 0.0068916, 0.0075732,
    -0.0069177, 0.0076070, 0.0069392, -0.0076285,
    0.0004937, -0.0001806, -0.0006961, 0.0003830,
    -0.0004524, 0.0004975, 0.0004538, -0.0004989,
    0.0004502, 0.0004958, -0.0004507, -0.0004953,
    0.0420429, 0.0420429, 0.0420429, 0.0420429,
    -2.7535461, -3.0323404, 2.7566264, 3.0292601,
    -2.7670702, 3.0427842, 2.7756950, -3.0514090,
    0.1974771, -0.0722364, -0.2784376, 0.1531969};

tinytype Q_data[NSTATES] = {100.0000000, 100.0000000, 100.0000000, 4.0000000, 4.0000000, 400.0000000, 4.0000000, 4.0000000, 4.0000000, 2.0408163, 2.0408163, 4.0000000};

tinytype R_data[NINPUTS] = {4.0000000, 4.0000000, 4.0000000, 4.0000000};
